The # Y62VR shouldn't have any issues clearing the doors on your 2023 Roadtrek Zion on the Ram ProMaster 3500 chassis. The extender # Y34VR measures 33" from the center of the receiver out to the arm if you want to measure just to be sure.
I have attached a picture along with a link to a review below where a customer said it allows both doors to open for full access into the rear of the van. They have a Thor Sequence which is also built on the ProMaster 3500 chassis. view full answer...